Stabilizing the drone

Discussions and questions about the Crazyflie Nano Quadcopter
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Barry
Beginner
Posts: 28
Joined: Tue Apr 06, 2021 9:19 am

Stabilizing the drone

Post by Barry »

Hi all,

I have made a larger drone using the Crazyflie bolt. I used flow deck v2 as the optical flow sensor.

My question is:

[1] I know there was a pid.h file in the firmware. But how can I choose the best one for stabilizing the drone? I have tried some settings but it looked not quite well. The drone will jitter a lot.

[2] The optical flow sensor was not good when I fly over 1.5m. How can I solve this issue?

Cheers!
tobias
Bitcraze
Posts: 2339
Joined: Mon Jan 28, 2013 7:17 pm
Location: Sweden

Re: Stabilizing the drone

Post by tobias »

Hopefully we will improve the setup and tuning for the Bolt during Q4 to make it easier.

1. Generally a Bolt built drone has higher thrust/weight ratio so the PID needs to be tuned down. Try starting with setting the roll&pitch rate_PID KP and KI to half. Then increase them bit by bit until it starts to wobble a bit. Then go back a bit. Keeping KI roughly double KP should be a good ratio.

2. Discussion ongoing in this thread. Please try that and feedback in that thread.
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